相关论文: Hearing Touch: Audio-Visual Pretraining for Contac…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

We present a pre-training approach for vision and language transformer models, which is based on a mixture of diverse tasks. We explore both the use of image-text captioning data in pre-training, which does not need additional supervision,…

Integrating information from multiple modalities is arguably one of the essential prerequisites for grounding artificial intelligence systems with an understanding of the real world. Recent advances in video transformers that jointly learn…

Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Spoken communication plays a central role in clinical workflows. In radiology, for example, most reports are created through dictation. Yet, nearly all medical AI systems rely exclusively on written text. In this work, we address this gap…

Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…

Accurately detecting voiced intervals in speech signals is a critical step in pitch tracking and has numerous applications. While conventional signal processing methods and deep learning algorithms have been proposed for this task, their…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

Compared with ample visual-text pre-training research, few works explore audio-text pre-training, mostly due to the lack of sufficient parallel audio-text data. Most existing methods incorporate the visual modality as a pivot for audio-text…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…